| A REAL-TIME MOVING OBSTACLES PLANNER ALGORITHM FOR A SIX-WHEELED SURVEYING ROBOT |
| Paper ID : 1352-SMPR |
| Authors: |
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Sepideh Bazhan *, Ali Hosseininaveh Department of Photogrammetry and Remote Sensing Faculty of Geodesy and Geomatics Engineering K. N. Toosi University of Technology |
| Abstract: |
| Nowadays, robotic systems such as ground vehicle robots are mostly used in many industrial and military applications. Therefore, the path planning problem in robotics domain is very important. Moving Obstacles Planner (MOP) algorithms have got the researchers interests in recent years and some of the most recent ones have been implemented in Robot Operating System (ROS) which is an open source middle wear to work with robots. This paper aims to compare the state of the art MOP algorithms including Rapidly exploring Random Tree (RRT) and those implemented in the ROS navigation stack such as Dynamic Window Approach (DWA) local planner coupled with Dijkstra and A* as global planners on a six wheeled robot known as MOOR in both simulation and field environment. The results reveals that all of these algorithms have been designed for a square shape footprint robot and thus have limitations for MOOR with a rectangular footprint shape. |
| Keywords: |
| Path Planning, MOOR, ROS, MOP, RRT, Dijkstra, A*, DWA |
| Status : Conditional Accept (Poster) |
